diff --git a/common/stm32_nucleo/STM32TestTask.cpp b/common/stm32_nucleo/STM32TestTask.cpp
index 91b49a6..094622c 100644
--- a/common/stm32_nucleo/STM32TestTask.cpp
+++ b/common/stm32_nucleo/STM32TestTask.cpp
@@ -18,6 +18,10 @@ ReturnValue_t STM32TestTask::performPeriodicAction() {
 #endif
         BSP_LED_Toggle(LED3);
     }
+    if(gyro != nullptr) {
+        gyro->performOperation();
+    }
+
     return TestTask::performPeriodicAction();
 }
 
@@ -31,8 +35,7 @@ ReturnValue_t STM32TestTask::performOneShotAction() {
 }
 
 void STM32TestTask::performSpiL3gd20hTest() {
-    SPI_HandleTypeDef spiHandle = {};
-    GyroL3GD20H gyroDevice(&spiHandle, spi::TransferModes::POLLING);
-    gyroDevice.initialize();
-    gyroDevice.performOperation();
+    gyro = new GyroL3GD20H(&spiHandle, spi::TransferModes::POLLING);
+    gyro->initialize();
+    gyro->performOperation();
 }
diff --git a/common/stm32_nucleo/STM32TestTask.h b/common/stm32_nucleo/STM32TestTask.h
index f00ec15..fee8098 100644
--- a/common/stm32_nucleo/STM32TestTask.h
+++ b/common/stm32_nucleo/STM32TestTask.h
@@ -5,7 +5,7 @@
 #include "stm32h7xx_hal.h"
 #include "stm32h7xx_hal_spi.h"
 
-
+class GyroL3GD20H;
 
 class STM32TestTask: public TestTask {
 public:
@@ -18,7 +18,8 @@ public:
 private:
 
 	bool blinkyLed = false;
-
+	SPI_HandleTypeDef spiHandle = {};
+	GyroL3GD20H* gyro = nullptr;
 };
 
 
diff --git a/fsfw_hal b/fsfw_hal
index 92a3f13..05b64b0 160000
--- a/fsfw_hal
+++ b/fsfw_hal
@@ -1 +1 @@
-Subproject commit 92a3f131721da077ede6ef7c34f5837bccc58021
+Subproject commit 05b64b05a3b5777298b28b2fa2ba544554bb2e3b